pos_eff_opt_controller.h

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// Copyright (C) 2015, PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
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//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
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//   * Neither the names of PAL Robotics S.L. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
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#ifndef CONTROLLER_MANAGER_TESTS_POS_EFF_OPT_CONTROLLER_H
#define CONTROLLER_MANAGER_TESTS_POS_EFF_OPT_CONTROLLER_H

#include <controller_interface/multi_interface_controller.h>
#include <hardware_interface/joint_command_interface.h>
#include <pluginlib/class_list_macros.h>

namespace controller_manager_tests
{

class PosEffOptController : public
      controller_interface::MultiInterfaceController<hardware_interface::PositionJointInterface,
                                                     hardware_interface::EffortJointInterface>
{
public:
  // Notice flag passed to constructor, allowing hardware interfaces to be optional
  PosEffOptController()
   : controller_interface::MultiInterfaceController<hardware_interface::PositionJointInterface,
                                                    hardware_interface::EffortJointInterface> (true) {}

  bool init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle &n);
  void starting(const ros::Time& time);
  void update(const ros::Time& time, const ros::Duration& period);
  void stopping(const ros::Time& time);

private:
  std::vector<hardware_interface::JointHandle> pos_cmd_;
  std::vector<hardware_interface::JointHandle> eff_cmd_;
};

}

#endif